EP1555186A2 - Système de chariot - Google Patents

Système de chariot Download PDF

Info

Publication number
EP1555186A2
EP1555186A2 EP04031034A EP04031034A EP1555186A2 EP 1555186 A2 EP1555186 A2 EP 1555186A2 EP 04031034 A EP04031034 A EP 04031034A EP 04031034 A EP04031034 A EP 04031034A EP 1555186 A2 EP1555186 A2 EP 1555186A2
Authority
EP
European Patent Office
Prior art keywords
control data
carriage
overhead vehicle
overhead
data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP04031034A
Other languages
German (de)
English (en)
Other versions
EP1555186B1 (fr
EP1555186A3 (fr
Inventor
Kikuo Hori
Takashi Nakao
Koichiro Oshiumi
Akihiko Ishiura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Murata Machinery Ltd
Original Assignee
Murata Machinery Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Murata Machinery Ltd filed Critical Murata Machinery Ltd
Publication of EP1555186A2 publication Critical patent/EP1555186A2/fr
Publication of EP1555186A3 publication Critical patent/EP1555186A3/fr
Application granted granted Critical
Publication of EP1555186B1 publication Critical patent/EP1555186B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C7/00—Runways, tracks or trackways for trolleys or cranes
    • B66C7/16—Devices specially adapted for limiting trolley or crane travel; Arrangements of buffer-stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B3/00—Elevated railway systems with suspended vehicles
    • B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/002—Control or safety means for heart-points and crossings of aerial railways, funicular rack-railway
    • B61L23/005—Automatic control or safety means for points for operator-less railway, e.g. transportation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires

Definitions

  • the preset invention relates to a carriage system with an overhead vehicle, a rail guided vehicle, or a stacker crane, and in particular, to the teaching of control data concerning stopped positions and transfers.
  • stoppage control data refers to data on a position at which a carriage is stopped at a station.
  • transfer control data refers to data on the amount by which each section of a transfer device moves during a transfer of an article to or from a station.
  • ground side is used in contrast with a carriage side and means stations (stopped positions), a running rail, and a ground side controller for the carriage system.
  • the Japanese Patent Publication No. 3367389 discloses calibration of overhead vehicles and stations in an overhead vehicle system.
  • a large-scale system has at least 100 overhead vehicles and several hundred stations (stopped positions).
  • stoppage or transfer control data is calibrated for each combination of an overhead vehicle and a station, a heavy burden is imposed on the system. Accordingly, calibration is carried out using one of the overhead vehicles as a reference.
  • Each of the other overhead vehicles stores a shift (deviation) from the reference overhead vehicle used for the calibration to correct calibration data.
  • the Unexamined Japanese Patent Application Publication (Tokkai) No. 2001-174206, the Unexamined Japanese Patent Application Publication (Tokkai) No. 2003-139563 and the Unexamined Japanese Patent Application Publication (Tokkai) No. 2003-156364 disclose linear sensors using the magnetic coupling between coils and a magnetic mark composed of a magnetic or nonmagnetic substance or the like.
  • a plurality of detection coils are connected together in series and an alternating current is applied to the coils, the voltages of the detection coils change depending on the positional relationship between the magnetic mark and the coils.
  • phase of each of the detection coils with respect to the magnetic mark is defined as ⁇ and the angular speed of the alternating current flowing through the detection coils is defined as ⁇
  • a signal proportional to sin ⁇ ⁇ sin ⁇ t or cos ⁇ ⁇ cos ⁇ t is obtained on the basis of the change in voltage.
  • the present invention provides a carriage system in which a carriage runs between predetermined stopped positions to convey an article, the system being characterized by comprising storage means provided on a ground side for storing control data required to stop the carriage at each of the stopped positions, means provided on the carriage for receiving or reading the stoppage control data from said storage means, and running control means provided on the carriage for using the control data to stop the carriage at the stopped position.
  • the storage means for the control data is provided in front of each stopped position so that the carriage can read the control data from the storage means.
  • the storage means stores both stoppage control data and transfer control data.
  • the storage means is provided at each stopped position, and each storage means stores stoppage and transfer control data on a stopped position behind the storage means.
  • a position sensor is provided on the carriage, and means for storing correction data for the position sensor is provided in the position sensor.
  • the position sensor is preferably a linear sensor using the magnetic coupling between a magnetic mark and detection coils.
  • the linear sensor has a separate sensor head composed of detection coils or the like and a separate converting section that converts a signal from the sensor head into a position.
  • the sensor head is provided with storage means to store correction data for the sensor head.
  • control data required to stop the carriage at each stopped position is stored on the ground side. Consequently, the carriage need not store this data. This serves to save the storage capacity of the carriage. It is also possible to change, for example, the arrangement of stations without being conscious of the storage in the carriage.
  • the storage means for the control data is provided in front of each stopped position so that the carriage can read the control data from the storage means. Consequently, the stopped position can be determined without the need for movement or communication with a ground side controller or the like.
  • the correction data for the position sensor is stored in the position sensor. This eliminates the need to carry out calibration every time the position sensor is replaced with a new one.
  • Figures 1 to 5 show an embodiment.
  • the embodiment describes an overhead vehicle by way of example but other carriages may be used.
  • Figure 1 shows the layout of an overhead vehicle system 2.
  • a running route for an overhead vehicle 8 includes an inter-bay route 4 and an intra-bay route 6.
  • Stations 10 such as load ports for semiconductor processing devices are provided along the routes 4, 6.
  • 12 is an ID tag that uses a bar code or the like to describe stoppage control data that uses a detected mark 14 described later as a reference and transfer control data.
  • the detected mark 14 is provided in front of the station 10 or between the station and a stopped position.
  • the overhead vehicle 8 is provided with an ID reader 16 to read the stoppage or transfer control data from the ID tag 12.
  • the overhead vehicle 8 is also provided with a linear sensor 18 to detect the absolute position of the linear sensor 18 with respect to the mark 14.
  • 20 is a ground side controller.
  • a running rail for the overhead vehicle 8 is laid along the routes 4, 6 and along a high place such as a ceiling of a clean room.
  • the overhead vehicle 8 receives electricity from the rail and communicates with the ground side controller 20 or other overhead vehicles.
  • Tags 12 and marks 14 are provided along the running rail.
  • the overhead vehicle 8 runs along the routes 4, 6, for example, in one direction.
  • an upstream side of the station 10 corresponds to a position in front of the station 10.
  • the ID tag 12 is placed in front of the station 10, and the mark 14 is placed behind the ID tag 12.
  • a dog or the like may be placed in front of the ID tag 12 to indicate that the ID tag 12 will appear.
  • the mark 14 is placed so as to be read in front of the station 10 or between the station 10 and the stopped position.
  • the mark 14 need not be provided between the stopped positions.
  • the overhead vehicle 8 requires data on a stopped position (stoppage control data) determined using the mark 14 as a reference, in order to perform stoppage control.
  • stoppage control data For the lateral movement of a platform at the station 10, the rotative movement of a chuck portion, an elevating or lowering operation, and the like, the overhead vehicle 8 also requires transfer control data (for example, data on the amounts of the above movements).
  • the ID tag 12 uses a bar code to optically or magnetically store these control data for each of the stations 10 in a control data storage section 22 as data for an ideal carriage.
  • the ID reader 16 and the linear sensor 18 are provided on one or both sides of the overhead vehicle 8.
  • an optical sensor may be used to read an optical mark shaped like comb teeth or the like and placed in front of the station 10 or between the station 10 and the stopped position. The optical sensor may thus determine its own absolute position.
  • the overhead vehicle 8 uses the ID reader 16 to read the control data from the ID tag 12.
  • the overhead vehicle 8 uses the linear sensor 18 to detect its own absolute position with respect to the mark 14.
  • the overhead vehicle 8 then stops without creep running. Further, the overhead vehicle 8 transfers an article to and from the station 10 in accordance with the control data.
  • the overhead vehicle 8 is provided with an overhead vehicle correction data storage section 24 to store its own correction data Tm with respect to the ideal carriage.
  • the correction data Tm contains transfer control data on elevation and lowering, rotative movements, lateral operations, and the like.
  • the linear sensor 18 is provided with a linear sensor correction data storage section 26 to store correction data for the sensor head of the linear sensor 18.
  • a maintenance zone 28 is provided along the route 4 or the route 6 to carry out calibration relating to, for example, transfers carried out by the overhead vehicle 8.
  • the overhead vehicle that can transfer an article to or from the maintenance zone 28 with a zero correction amount is the ideal carriage.
  • the calibration at the maintenance zone 28 may involve not only the transfer control data but also the stoppage control data.
  • the ground side controller 20 is provided with backup data storage sections 30, 31.
  • the storage section 30 stores the correction data Tm for the overhead vehicle 8.
  • the backup data storage section 31 stores stoppage and transfer control data Dn for each station 10.
  • FIG. 2 shows the configuration of the overhead vehicle 8.
  • a communication section 40 utilizes a communication line laid along the routes 4, 6 and also used as an electricity feeding line to communicates with other overhead carriers and the ground side controller 20.
  • the overhead vehicle correction data storage section 24 stores transfer correction amount Tm with respect to the ideal carriage.
  • the linear sensor 18 already stores the correction data and outputs corrected data. Accordingly, stop control data in Tm is (1, 1, 1 ...) or the like.
  • a correction calculating section 42 uses the correction data Tm and the control data Dn for each station which is read using the ID reader 16, to calculate actual stoppage and transfer control data. For example, when the data Tm, Dn are described in a matrix form, the actual data is denoted as Tm ⁇ Dn.
  • the linear sensor 18 detects the mark 14 to determine its own absolute position with respect to the mark 14 as previously described.
  • the ID reader 16 reads the control data Dn from the ID tag 12, placed in front of the mark 14.
  • a mechanism system of the overhead vehicle 18 includes a running driving section 44, a lateral driving section 46, an elevating and lowering driving section 48, a rotative movement section 50, and a chuck portion 52. Control amounts for these sections are supplied in the form of Tm ⁇ Dn.
  • the running driving section 44 controls the stoppages of the overhead vehicle 8 so that the vehicle 8 can stop at a predermined position without creep running.
  • the lateral driving section 46 moves the elevating and lowering driving section 48 laterally relative to the routes 4, 6 in a predertermined direction.
  • the elevating and lowering driving section 48 elevates and lowers the chuck portion 52 by a predetermined amount in accordance with the date Tm ⁇ Dn.
  • the rotative movement section 50 rotatively moves the chuck portion 52 through a predermined angle in accordance with the data Tm ⁇ Dn.
  • Figure 3 shows the configuration of the linear sensor 18.
  • a sensor head 54 a plurality of detection coils 56 are arranged in a line and are covered with a magnetic substance or the like.
  • An alternating current power source 58 applies an alternating current to the detection coils 56.
  • voltages applied to the detection coils are supplied to a converting section 64 as outputs.
  • the mark 14 is composed of a magnetic substance such as steel or a nonmagnetic substance such as copper or aluminum.
  • the linear sensor correction data storage section 26 and a history storage section 62 are provided to store the time when the linear sensor 18 started to be used, the total amount of time for which the linear sensor 18 has been used, the types of troubles such as errors (error codes), the time when each of the troubles such as errors occurred, and the like.
  • the linear sensor correction data storage section 26 stores correction data for each sensor head 54 before being assembled to the converting section 64.
  • an AD converter 66 subjects the voltage of each detection coil 56 to an AD conversion.
  • a CPU 68 composed of a digital signal processor or the like determines the absolute position of the linear sensor 18 with respect to the mark 14. For example, when the angular frequency of the alternating current power source 58 is defined as ⁇ and the phase of the detection coils 56 with respect to the mark 14 is defined as ⁇ , a signal sin ⁇ ⁇ sin ⁇ t or cos ⁇ ⁇ cos ⁇ t is obtained as described in the Unexamined Japanese Patent Application Publication (Tokkai) No. 2001-174206, the Unexamined Japanese Patent Application Publication (Tokkai) No. 2003-139563 and the Unexamined Japanese Patent Application Publication (Tokkai) No. 2003-156364. The phase ⁇ can then be determined from the signal.
  • the linear sensor correction data storage section 26 stores a correction table for the phase obtained by the detection coils 56 and the actual phase, for a relatively small number of, for example, several to about ten points. Then, upon power-on or the like, the CPU 68 processes and interpolates the data. The correction data interpolated is stored in a RAM 70 or the like. Further, every time a trouble occurs, the CPU 68 stores the corresponding error code, the occurrence time, and the like in the RAM 70. The CPU 68 then takes these data out of the RAM 70 and writes them to the history storage section 62 via an interface (not shown in the drawings).
  • Figure 4 shows the calibration of the whole overhead vehicle system. If only the overhead vehicle is to be calibrated, it is only necessary to process that part. Further, if stations are to be added, it is only necessary to calibrate the stations added.
  • the number of the overhead vehicle is denoted (m) and the number of each station is denoted (n).
  • Each overhead vehicle is calibrated in the maintenance zone.
  • the calibration is executed on at least the transfer control data.
  • the stoppage control data may be calibrated. It is assumed that for the ideal overhead vehicle, the correction data is zero, that is, the matrix Tm is zero. Then, a deviation obtained on the basis of the ideal overhead vehicle is stored for each overhead vehicle using the matrix Tm. An appropriate overhead vehicle is selected from the large number of overhead vehicles. Then, each station is calibrated. Control data is determined which is required to allow the overhead vehicle to accurately stop at each station and then to carry out an accurate transfer. This control data is based on the combination of the overhead vehicle and the station. The data is thus expressed using the matrix Dnm.
  • control data Dn Tm-1 ⁇ Dnm
  • Tm-1 the matrix which represents the deviation of the overhead vehicle from the ideal carriage.
  • the control data is them stored in the ID tag.
  • the control data Dn does not depend on the overhead vehicle used for calibration.
  • the correction data Tm for each overhead vehicle and the control data Dn for each station are stored in the ground side controller.
  • Figure 5 shows an algorism for conveyance from station to station.
  • the overhead vehicle calculates the distance it must run before reaching the destination station, on the basis of a map (not shown in the drawings).
  • the overhead vehicle then uses an encoder to monitor the number of rotations of running wheels, the number of rotations of a running servo motor, and the like.
  • the overhead vehicle runs inferably while determining the current running distance.
  • the overhead vehicle Upon detecting an ID tag, the overhead vehicle reads the control data Dn for each station.
  • the overhead vehicle then used its own correction matrix Tm with respect to the ideal carriage to calculate the data Tm ⁇ Dn.
  • the overhead vehicle uses a signal for a stopped position determined from the data Dn (the stopped position based on the mark) and for the linear sensor to stop without creep running.
  • the overhead vehicle can stop with an accuracy of, for example, about ⁇ 1mm without creep running. This makes it possible to reduce the amount of time until stoppage by about 5 seconds, which are required for the creep running.
  • the data Tm ⁇ Dn is used to control a transfer; the transfer is carried out by controlling the lateral movement of the elevation and lowering driving section as well as the elevation and lowering and rotative movement of the chuck portion. After the transfer, the overhead vehicle reverses its direction by an amount corresponding to the lateral movement, elevating and lowering operation, and rotative moving operation. The overhead vehicle thus returns to finish the conveyance.
  • the overhead vehicle is shown.
  • the present invention is applicable to a ground running rail guided vehicle or stacker crane, or a trackless automatic guided vehicle.
  • the overhead vehicle comprises the transfer device, each ID tag stores the stoppage control data and the transfer control data.
  • the ID tag has only to store the stoppage control data.
  • the overhead vehicle may inquire or the ground side controller to receive the control data from it.
  • the embodiment produces the effects described below.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Health & Medical Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Control And Safety Of Cranes (AREA)
EP04031034A 2004-01-13 2004-12-30 Système de chariot Expired - Fee Related EP1555186B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004005184 2004-01-13
JP2004005184A JP3991229B2 (ja) 2004-01-13 2004-01-13 搬送台車システム

Publications (3)

Publication Number Publication Date
EP1555186A2 true EP1555186A2 (fr) 2005-07-20
EP1555186A3 EP1555186A3 (fr) 2010-06-30
EP1555186B1 EP1555186B1 (fr) 2012-10-17

Family

ID=34616830

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04031034A Expired - Fee Related EP1555186B1 (fr) 2004-01-13 2004-12-30 Système de chariot

Country Status (5)

Country Link
US (1) US7649655B2 (fr)
EP (1) EP1555186B1 (fr)
JP (1) JP3991229B2 (fr)
KR (1) KR100801931B1 (fr)
TW (1) TWI276600B (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103118962A (zh) * 2010-09-30 2013-05-22 村田机械株式会社 移载系统
EP2779432B1 (fr) 2011-11-07 2016-06-15 Yamaha Hatsudoki Kabushiki Kaisha Transporteur linéaire

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4720267B2 (ja) * 2005-04-14 2011-07-13 村田機械株式会社 天井走行車システム
JP4264834B2 (ja) * 2005-07-04 2009-05-20 村田機械株式会社 有軌道台車システム
TW200736870A (en) * 2005-11-04 2007-10-01 Murata Machinery Ltd Control device for movable body
JP2007191235A (ja) * 2006-01-17 2007-08-02 Murata Mach Ltd 天井走行車システム
JP4858018B2 (ja) * 2006-09-01 2012-01-18 ムラテックオートメーション株式会社 被搬送物保管システム
KR100743898B1 (ko) * 2006-12-29 2007-07-30 심규태 반송대차 시스템의 에스에스아이 통신을 이용한위치제어장치
JP4366663B2 (ja) * 2007-06-28 2009-11-18 村田機械株式会社 搬送台車システム
TWI389241B (zh) * 2008-10-03 2013-03-11 Inotera Memories Inc 自動維修搬運系統及其執行方法
CN101973489B (zh) * 2010-09-29 2012-04-18 上海海事大学 带有图像传感器的双起升桥吊控制系统及控制方法
DE102013010787A1 (de) 2013-06-28 2014-12-31 Servus Intralogistics Gmbh Steuerungssystem für einen schienengebundenen Fahrroboter und Verfahren zu dessen Betrieb
JP6335603B2 (ja) * 2014-04-15 2018-05-30 キヤノン株式会社 台車搬送システム
US10889449B2 (en) 2017-09-25 2021-01-12 Canon Kabushiki Kaisha Transport system and manufacturing method of article
JP6448836B2 (ja) * 2018-05-02 2019-01-09 キヤノン株式会社 台車搬送システム
WO2020066458A1 (fr) * 2018-09-27 2020-04-02 村田機械株式会社 Procédé de commande, système de transport et dispositif de communication

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4716530A (en) 1984-05-21 1987-12-29 Kabushiki Kaisha Meidensha System for automatically controlling movement of unmanned vehicle and method therefor
US4974259A (en) 1987-12-09 1990-11-27 Fuji Electric Co., Ltd. Control system for unattended transport car

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3515698A1 (de) * 1985-05-02 1986-11-06 Robert Bosch Gmbh, 7000 Stuttgart Steuersystem fuer mobile transporteinheiten auf transportstrassen
JP2515523B2 (ja) 1986-11-13 1996-07-10 株式会社ダイフク 移動車の分岐走行制御設備
JPH01103478A (ja) * 1987-10-16 1989-04-20 Brother Ind Ltd 印字装置
US4907139A (en) * 1988-03-31 1990-03-06 Hubbell Incorporated Photocontrol device for grade mounted light fixture
JP2732318B2 (ja) * 1990-09-13 1998-03-30 株式会社ダイフク 移動車の停止制御装置
KR960005672B1 (ko) * 1990-08-23 1996-04-30 가부시끼가이샤 다이후꾸 이동차의 분기주행 제어설비
DE4030954C2 (de) * 1990-09-29 1994-08-04 Danfoss As Verfahren zur Steuerung der Bewegung eines hydraulisch bewegbaren Arbeitsgeräts und Bahnsteuereinrichtung zur Durchführung des Verfahrens
CA2053028C (fr) * 1990-10-23 1996-04-09 Hideichi Tanizawa Systeme de controle de la circulation de chariots
JPH0795804B2 (ja) * 1991-02-15 1995-10-11 富士ゼロックス株式会社 画像読取装置
JPH0635538A (ja) 1992-07-14 1994-02-10 Tsubakimoto Chain Co 移動体の停止位置キャリブレーション方法及びそれに使用するキャリブレーション装置
US7310072B2 (en) * 1993-10-22 2007-12-18 Kopin Corporation Portable communication display device
JP3258203B2 (ja) * 1994-07-26 2002-02-18 三菱電機株式会社 シート搬送装置
DE4443669A1 (de) * 1994-12-08 1996-06-13 Index Werke Kg Hahn & Tessky Verfahren und Einrichtung zum Überwachen der Bewegung eines Maschinenbauteils
US6041274A (en) * 1997-04-21 2000-03-21 Shinko Electric Co., Ltd. Positional deviation detecting device for a mobile body and position correcting apparatus for a working machine mounted on a mobile body
JP3367389B2 (ja) 1997-08-13 2003-01-14 神鋼電機株式会社 天井搬送システム及びその位置決め方法
JPH11249004A (ja) 1998-03-02 1999-09-17 Nikon Corp イメージセンサ
JP2000113556A (ja) * 1998-09-30 2000-04-21 Mitsubishi Electric Corp ライブラリ装置
DE19949622A1 (de) * 1999-10-14 2001-05-10 Asam Robert Mobile Streckenüberwachungseinheit
JP4740438B2 (ja) 1999-12-17 2011-08-03 株式会社アミテック シリンダ位置検出装置
JP2003139563A (ja) 2001-11-01 2003-05-14 Murata Mach Ltd スライド位置検出装置
JP2003156364A (ja) 2001-11-22 2003-05-30 Murata Mach Ltd スライド位置検出装置を備えた直動装置
WO2003071288A1 (fr) * 2002-02-20 2003-08-28 Ismeca Semiconductor Holding Sa Actionneur de contacts avec contrôle de la force de contact
JP2004030500A (ja) * 2002-06-28 2004-01-29 Fanuc Ltd モータ制御装置
JP4467359B2 (ja) * 2003-05-28 2010-05-26 ニスカ株式会社 画像読取装置
US7463388B2 (en) * 2003-05-29 2008-12-09 Canon Kabushiki Kaisha Image forming apparatus with control of image formation using read information
US7378644B2 (en) * 2003-09-18 2008-05-27 Nisca Corporation Image reading apparatus
JP4074999B2 (ja) * 2004-01-13 2008-04-16 村田機械株式会社 搬送台車システム
JP4788643B2 (ja) * 2007-04-23 2011-10-05 株式会社デンソー ハイブリッド車両用の充放電制御装置および当該充放電制御装置用のプログラム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4716530A (en) 1984-05-21 1987-12-29 Kabushiki Kaisha Meidensha System for automatically controlling movement of unmanned vehicle and method therefor
US4974259A (en) 1987-12-09 1990-11-27 Fuji Electric Co., Ltd. Control system for unattended transport car

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103118962A (zh) * 2010-09-30 2013-05-22 村田机械株式会社 移载系统
CN103118962B (zh) * 2010-09-30 2014-12-10 村田机械株式会社 移载系统
EP2779432B1 (fr) 2011-11-07 2016-06-15 Yamaha Hatsudoki Kabushiki Kaisha Transporteur linéaire

Also Published As

Publication number Publication date
KR20050074257A (ko) 2005-07-18
US20050159854A1 (en) 2005-07-21
US7649655B2 (en) 2010-01-19
KR100801931B1 (ko) 2008-02-12
TWI276600B (en) 2007-03-21
EP1555186B1 (fr) 2012-10-17
TW200524815A (en) 2005-08-01
EP1555186A3 (fr) 2010-06-30
JP2005202463A (ja) 2005-07-28
JP3991229B2 (ja) 2007-10-17

Similar Documents

Publication Publication Date Title
US7649655B2 (en) Carriage system
US7703396B2 (en) Carriage system
KR100447308B1 (ko) 미리 설정된 영역에서 차량의 위치를 감지하기 위한 방법및 장치
EP1555224B1 (fr) Système de balayage
KR101087600B1 (ko) 이동체 시스템
US20070016341A1 (en) Traveling vehicle system and stop control method for traveling vehicle
JP2014137710A (ja) 無人搬送車の制御方法
JP3378843B2 (ja) 無人搬送車の位置および方位の補正装置
KR100834887B1 (ko) 무인반송장치의 수평 및 정위치 제어시스템
JP2010204921A (ja) 無線タグシートおよび移動台車システム
JP2005339371A (ja) 搬送台車システム
CN115619203B (zh) 一种汽车总装车间agv运行监管方法及系统
JP5390360B2 (ja) 自動搬送車
JP3735897B2 (ja) 無人車誘導装置
FI109242B (fi) Automaattinen suoraanajojärjestelmä kontinkäsittelykonetta varten
JP2010020514A (ja) 無人車両の位置方位測定システム
JP2002108448A (ja) 無人搬送車の位置および方位の補正装置
JP2012108630A (ja) 無人搬送車の走行制御装置、および無人搬送車

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU MC NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR LV MK YU

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU MC NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR LV MK YU

RIC1 Information provided on ipc code assigned before grant

Ipc: B65G 1/04 20060101ALI20100527BHEP

Ipc: B61L 3/00 20060101AFI20050519BHEP

Ipc: G05D 1/02 20060101ALI20100527BHEP

17P Request for examination filed

Effective date: 20101229

AKX Designation fees paid

Designated state(s): DE FR GB IT

17Q First examination report despatched

Effective date: 20120111

REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Ref document number: 602004039671

Country of ref document: DE

Free format text: PREVIOUS MAIN CLASS: B61L0003000000

Ipc: B61B0003020000

RIC1 Information provided on ipc code assigned before grant

Ipc: B61L 23/00 20060101ALI20120326BHEP

Ipc: B65G 1/04 20060101ALI20120326BHEP

Ipc: G05D 1/02 20060101ALI20120326BHEP

Ipc: B61B 3/02 20060101AFI20120326BHEP

Ipc: B61L 3/00 20060101ALI20120326BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE FR GB IT

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602004039671

Country of ref document: DE

Effective date: 20121213

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20121017

26N No opposition filed

Effective date: 20130718

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20130117

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20130830

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602004039671

Country of ref document: DE

Effective date: 20130718

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130102

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130117

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20201211

Year of fee payment: 17

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602004039671

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220701